Control system for industrial machinery

Abstract

To improve safety. [Solution] A control system for a work machine according to one embodiment comprises: a work machine that operates at a work site by autonomous operation or remote operation; an information processing device used for the work machine or the work site; and a management device that notifies the information processing device when it detects a disaster related to the area where the work machine or the information processing device is located, or when it detects an abnormality in the surroundings where the information processing device is being used, and the information processing device displays information in accordance with the notification.

Description

Technical Field

[0006]

[0001] The present invention relates to a control system for a working machine.

Background Art

[0002] Conventionally, when a disaster occurs while working with a working machine, it is necessary for an operator or the like to immediately recognize the disaster and take appropriate measures according to the disaster. For this reason, for example, a technique for enabling a driver to quickly recognize the occurrence of an earthquake has been proposed (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a working machine operates by remote control or autonomously, the people engaged in the work, including remote operators, etc., are often in different regions. When an abnormal situation such as a disaster occurs, it is difficult to grasp the abnormal situation.

[0005] In view of the above, by facilitating the grasp of the situation, an improvement in safety is realized.

Means for Solving the Problems

[0006] A control system for a working machine according to an aspect of the present invention includes a working machine that operates at a work site by autonomous operation or remote control, an information processing device used for the working machine or the work site, and a management device that notifies the information processing device when a disaster related to the region where the working machine or the information processing device is present is detected, or when an abnormality in the surroundings where the information processing device is used is detected. The information processing device displays information according to the notification. [Effects of the Invention]

[0007] According to one aspect of the present invention, by displaying information in accordance with the notification, it is possible to make it easier to understand the situation and thereby improve safety. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram showing an example of a remote control system according to the first embodiment. [Figure 2] This figure shows an example of the configuration of the drive control system for an excavator according to the first embodiment. [Figure 3] This is a functional block diagram showing an example configuration of a remote control system according to the first embodiment. [Figure 4] This figure shows an example of the layout of a remote control room according to the first embodiment. [Figure 5] This figure shows an example of the table structure of the setting storage unit according to the first embodiment. [Figure 6] This is a conceptual diagram illustrating the process performed in the remote control system according to the first embodiment when an earthquake of magnitude 3 or higher occurs at the work site. [Figure 7] This is a conceptual diagram illustrating the process performed in the remote control system according to the first embodiment when an earthquake of magnitude 3 or higher occurs in the remote control room. [Figure 8] This is a sequence diagram showing the processing flow when an earthquake of magnitude 3 or higher occurs at a work site, according to the remote control system of the first embodiment. [Figure 9] This is a sequence diagram showing the processing flow when an earthquake of magnitude 3 or higher occurs in the remote control room, according to the remote control system of the first embodiment. [Modes for carrying out the invention]

[0009] Embodiments of this disclosure will be described below with reference to the drawings. The embodiments described below are illustrative and do not limit the invention. Not all features and combinations thereof in the embodiments of this disclosure are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and redundant descriptions may be omitted.

[0010] The working machine 100 according to the embodiment of this disclosure is a shovel. The working machine 100 may be a machine other than a shovel, such as a crane, an asphalt finisher, or a forklift. In the illustrated example, the shovel as the working machine 100 is an excavator equipped with a bucket 6 as an end attachment, but it may be an applied machine such as a forestry machine equipped with an end attachment other than the bucket 6. Furthermore, it may be a crawler crane equipped with a lower traveling body, an upper rotating body, and an attachment provided on the upper rotating body.

[0011] (First Embodiment) First, with reference to Figure 1, an overview of the remote control system (an example of a control system for work machinery) SYS according to the first embodiment will be described. Figure 1 is a schematic diagram showing an example of the remote control system SYS according to the first embodiment.

[0012] <Equipment that constitutes a remote control system> As shown in Figure 1, the remote control system SYS according to the first embodiment includes a work machine 100, a remote control room RC, a management server 700, and a portable communication terminal 500. The configuration of the remote control system SYS shown in Figure 1 is an example and is not limited to this configuration. For example, it may consist of the work machine 100, the remote control room RC, and the management server 700 without including the portable communication terminal 500.

[0013] The work machine 100, the remote control room RC, the management server 700, and the mobile communication terminal 500 are connected via a communication line NW to enable the transmission and reception of data.

[0014] The work machine 100 and the mobile communication terminal 500 are capable of wireless communication. And the work machine 100 is capable of transmitting and receiving data to and from devices (e.g., the remote operation room RC, the management server 700, and the mobile communication terminal 500) connected to the communication line NW.

[0015] The mobile communication terminal 500 is an information processing device held by a worker present at the work site.

[0016] The work machine 100 and the mobile communication terminal 500 are present at the work site where the work machine 100 performs work. And the work machine 100 and the mobile communication terminal 500 can transmit information regarding the work site to the remote operation room RC. Thereby, the remote operation room RC can check the work site according to the information from the work machine 100. Note that in this embodiment, the device for measuring the work site is not limited to the work machine 100 and the mobile communication terminal 500, and other types of devices such as a fixed-point measurement device present at the work site, a drone flying over the work site, or an imaging device that can be held by a user may be used.

[0017] The management server 700 is provided, for example, in a management center that manages the work site. The management server 700 is provided so as to be able to collect disaster information occurring in each region.

[0018] For example, the management server 700 includes a receiver for receiving information provided from the satellite 900. And the management server 700 receives disaster information occurring in each region that is distributed via the satellite 900. The satellite 900 is configured as a part of a disaster information providing system, collects information regarding disasters occurring in each region from disaster prevention agencies, etc., and functions as a disaster information providing system that distributes the information as disaster information. Therefore, the management server 700 can recognize disasters occurring in various regions.

[0019] In this way, the disaster information provision system detects the occurrence of a disaster based on information provided by disaster prevention organizations monitoring various locations, including the areas where work sites and remote control rooms (RC) are located, and distributes the detection results via satellite 900. The disaster prevention organizations may be well-known organizations or newly established ones. Furthermore, the disaster information provision system may not only detect disasters that have already occurred but also predict the occurrence of disasters. For example, the disaster information provision system may distribute the detection results via satellite 900 as soon as it detects P-waves for earthquake safety measures.

[0020] This embodiment describes an example in which a management server 700 is provided as an example of a management device that provides notifications regarding disasters. This embodiment is not limited to the method of providing the management device as a server; for example, the functions of the management device may be installed on the satellite 900. In this case, the work machine 100, the mobile communication terminal 500, and the remote controller R40 may each be equipped with a receiver for communicating with the satellite 900. Furthermore, the functions of the management device may be provided as a cloud service.

[0021] The work machine 100 included in the remote control system SYS may be one unit or multiple units. This allows the remote control system SYS to provide information about the work site to the remote control room RC through one or more work machines 100.

[0022] The mobile communication terminal 500 included in the remote control system SYS may be one unit or multiple units. This allows the remote control system SYS to manage the work site through one or more mobile communication terminals 500.

[0023] The remote control room RC is equipped with a communication device T2, a remote controller R40, an operating device R42, an operating sensor R43, and a display device D1E. The remote control room RC also has an operating seat DS where the remote operator OP sits to remotely control the work machine 100.

[0024] The communication device T2 is configured to control communication with the communication device T1 (see Figure 2) attached to the work machine 100.

[0025] The remote controller (an example of a remote control device) R40 is an information processing device that performs various calculations in order to remotely control the work machine 100. In this embodiment, the remote controller R40 is composed of a microcomputer including a CPU and memory. The various functions of the remote controller R40 are realized by the CPU executing a program stored in memory.

[0026] The display device D1E displays a screen based on information transmitted from the work machine 100, allowing the remote operator OP in the remote control room RC to visually check the area around the work machine 100. The display device D1E allows the operator to check the conditions of the work site, including the area around the work machine 100, even though the operator is in the remote control room RC.

[0027] An operating device R42 (an example of an operating unit) is equipped with an operating sensor R43 for detecting the operation of the operating device R42. The operating sensor R43 is, for example, a tilt sensor that detects the tilt angle of the operating lever, or an angle sensor that detects the oscillation angle of the operating lever around its pivot axis. The operating sensor R43 may also consist of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operating sensor R43 outputs information regarding the operation of the operating device R42 that it has detected to the remote controller R40. The remote controller R40 generates an operation signal based on the received information and transmits the generated operation signal to the work machine 100. The operating sensor R43 may also be configured to generate an operation signal. In this case, the operating sensor R43 may output the operation signal to the communication device T2 without going through the remote controller R40. This enables remote control of the work machine 100 from the remote control room RC.

[0028] The work machine 100 comprises a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be rotatable via a slewing mechanism 2, an attachment AT for performing various tasks, and a driver's cab 10. The driver's cab 10 is also called a cabin or cab. The front side of the work machine 100 (upper rotating body 3) corresponds to the side on which the attachment AT is attached to the upper rotating body 3 when the work machine 100 is viewed from directly above along the slewing axis of the upper rotating body 3. The left, right, and rear sides of the work machine 100 (upper rotating body 3) correspond to the left, right, and rear sides as seen from the perspective of an operator seated in the driver's seat inside the driver's cab 10, respectively.

[0029] The lower travel body 1 includes, for example, a pair of left and right crawlers (not shown). Specifically, the crawlers include a left crawler and a right crawler. The left crawler is driven by a left travel hydraulic motor 2ML (see Figure 2), and the right crawler is driven by a right travel hydraulic motor 2MR (see Figure 2). The left travel hydraulic motor 2ML is a travel drive unit that drives the left crawler, which is the driven part, and can rotate the left crawler. The right travel hydraulic motor 2MR is a travel drive unit that drives the right crawler, which is the driven part, and can rotate the right crawler. Note that the travel drive units may also be electric motors.

[0030] A boom 4 is rotatably mounted to the front center of the upper slewing body 3, an arm 5 is rotatably mounted to the tip of the boom 4, and a bucket 6 is rotatably mounted to the tip of the arm 5. In the illustrated example, the boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of attachment AT. The boom 4, arm 5, and bucket 6 are driven by a boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively.

[0031] Bucket 6 is an example of a work tool (end attachment). Bucket 6 is used, for example, for excavation work. Depending on the work content, other work tools may be attached to the tip of arm 5 instead of bucket 6. Other work tools may be other types of buckets, such as large buckets, slope buckets, or dredging buckets. Other work tools may also be types of work tools other than buckets, such as agitators, breakers, grapples, or lifting magnets. The excavation attachment may be provided with a bucket tilt mechanism.

[0032] Furthermore, the work machine 100 may have all or part of its driven parts, such as the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6, electrically driven. In other words, the work machine 100 may be a hybrid excavator or electric excavator, in which all or part of its driven parts are driven by electric actuators.

[0033] The work machine 100 according to this embodiment is configured to be remotely operated from outside the work machine 100. When the work machine 100 is remotely operated, the inside of the operator's cab 10 may be unoccupied.

[0034] Furthermore, the work machine 100 may automatically operate the actuators regardless of the operator's actions. This enables the work machine 100 to automatically operate at least a portion of the driven parts, such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, that is, to achieve a so-called "machine control function".

[0035] Figure 2 is a schematic diagram showing an example of the configuration of the work machine 100. In Figure 2, the mechanical power transmission system, hydraulic fluid line, pilot line, and electrical control system are indicated by double lines, thick solid lines, thick dashed lines, and dotted lines, respectively.

[0036] The drive system of the work machine 100 includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. The hydraulic drive system of the work machine 100 also includes hydraulic actuators such as a slewing hydraulic motor 2A, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0037] The engine 11 is an example of a power source for the work machine 100, and is mounted, for example, at the rear of the upper rotating body 3. The power source for the work machine 100 may also be a combination of a battery or fuel cell and an electric motor. Specifically, the engine 11 rotates at a constant speed at a preset target rotational speed under direct or indirect control by the controller 30, driving the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 may also be a gasoline engine or a hydrogen engine, etc.

[0038] The regulator 13 controls the discharge rate of the main pump 14. For example, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0039] The main pump 14, for example, is mounted at the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic fluid to the control valve unit 17 through the hydraulic fluid line. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0040] The control valve unit 17 is one of the hydraulic control devices that control the hydraulic system in the work machine 100. In the illustrated example, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-travel hydraulic motor 2ML, a right-travel hydraulic motor 2MR, and a slewing hydraulic motor 2A. Specifically, control valve 171 corresponds to the left-travel hydraulic motor 2ML, control valve 172 corresponds to the right-travel hydraulic motor 2MR, and control valve 173 corresponds to the slewing hydraulic motor 2A. Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to arm cylinder 8.

[0041] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic fluid to a hydraulic control device via a pilot line. In the illustrated example, the pilot pump 15 is a fixed-displacement hydraulic pump. However, the pilot pressure generating device may be implemented by the main pump 14. That is, the main pump 14 may have the function of supplying hydraulic fluid to the control valve unit 17 via a hydraulic fluid line, as well as the function of supplying hydraulic fluid to various hydraulic control devices via a pilot line. In this case, the pilot pump 15 may be omitted.

[0042] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the example shown in the figure, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0043] The operating device 26 is a device used by the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator may be a hydraulic actuator or an electric actuator.

[0044] The operation sensor 29 is configured to detect the operator's actions using the operation device 26. In this embodiment, the operation sensor 29 detects the operating direction and amount of the operation device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30. In the illustrated example, the controller 30 can control the opening area of ​​the proportional valve 31 according to the output of the operation sensor 29. The controller 30 then supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is, in principle, the pressure corresponding to the operating direction and amount of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0045] The proportional valve 31, which functions as a control valve for machine control, is located in the pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to change the flow area of ​​the pipeline. In the illustrated example, the proportional valve 31 operates in response to control commands output by the controller 30. Therefore, the controller 30 can adjust the pilot pressure acting on the pilot port of the control valve by the proportional valve 31, independently of the operation of the operating device 26 by the operator.

[0046] This configuration allows the controller 30 to operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that particular operating device 26.

[0047] Furthermore, as shown in Figure 2, the control system of the work machine 100 includes a controller 30, angle sensors S1, S2, S3, machine tilt sensor S4, rotation sensor S5, imaging device S6, positioning device PS, display device D1, and communication device T1, etc.

[0048] The communication device T1 communicates with external devices through a communication network including a mobile communication network, a satellite communication network, or the Internet. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), a communication module compatible with short-range wireless communication standards such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a satellite communication module for connecting to a satellite communication network.

[0049] The boom angle sensor S1 detects the boom angle, which is the rotation angle of the boom 4 relative to the upper slewing body 3. The arm angle sensor S2 detects the arm angle, which is the rotation angle of the arm 5 relative to the boom 4. The bucket angle sensor S3 detects the bucket angle, which is the rotation angle of the bucket 6 relative to the arm 5.

[0050] The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may each be, for example, a rotary encoder, acceleration sensor, 6-axis sensor, IMU (Inertial Measurement Unit), or a potentiometer using a variable resistor, or a cylinder stroke sensor for detecting the stroke amount of a hydraulic cylinder.

[0051] The detection signals corresponding to the boom angle from the boom angle sensor S1, the detection signals corresponding to the arm angle from the arm angle sensor S2, and the detection signals corresponding to the bucket angle from the bucket angle sensor S3 are input to the controller 30. The detection signals may include angular velocity in addition to angle.

[0052] In this embodiment, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are collectively referred to as angle sensors S1, S2, and S3.

[0053] The machine tilt sensor S4 detects the tilt state of the machine (lower traveling body 1 or upper rotating body 3) relative to the horizontal plane. The machine tilt sensor S4 is, for example, attached to the upper rotating body 3 and detects the tilt angle of the work machine 100 (i.e., the upper rotating body 3) around two axes: the longitudinal direction and the lateral direction. The machine tilt sensor S4 may be, for example, an acceleration sensor, a 6-axis sensor, or an IMU. The detection signal corresponding to the tilt angle from the machine tilt sensor S4 is input to the controller 30.

[0054] The rotation sensor S5 outputs information regarding the rotation of the upper rotating body 3. The rotation sensor S5 detects, for example, the rotational angular velocity of the upper rotating body 3 relative to the lower traveling body 1. The rotation sensor S5 may also detect the rotation angle. The rotation sensor S5 may be, for example, a gyro sensor, a resolver, or a rotary encoder. The detection signal corresponding to the rotation angle or rotational angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input to the controller 30.

[0055] The imaging device S6 is mounted on the upper rotating body 3 and captures images of the area around the work machine 100, acquiring images representing the area around the work machine 100. The imaging device S6 includes, for example, a front camera, a left camera, a right camera, and a rear camera.

[0056] The front camera is a camera that captures images in front of the work machine 100 and is mounted on the outside of the operator's cab 10, such as on the roof of the operator's cab 10 or the side of the boom 4. The left camera is a camera that captures images to the left of the work machine 100, the right camera is a camera that captures images to the right of the work machine 100, and the rear camera is a camera that captures images behind the work machine 100. Specifically, the front camera, left camera, right camera, and rear camera are all monocular wide-angle cameras equipped with an image sensor such as a CCD or CMOS, and the information of the captured images is taken into the controller 30. Alternatively, the images captured by the imaging device may be output to the display device D1.

[0057] The imaging device S6 may constitute an object detection device that detects objects in the vicinity of the work machine 100. The object detection device may consist of devices other than a camera. For example, the object detection device may be a LiDAR. A LiDAR is, for example, a device capable of measuring the distance between a point cloud of 1 million or more points within the monitoring range and the LiDAR (laser source). Alternatively, the object detection device may be other devices capable of measuring the distance to an object, such as a stereo camera, a depth image camera, or a millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may determine the distance and direction of the object by transmitting a large number of signals (such as laser light) toward the object and receiving the reflected signals. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and a LiDAR, or a combination of an imaging device and a millimeter-wave radar, or a combination of an imaging device and a stereo camera.

[0058] The positioning device PS measures the position of the upper rotating body 3. The positioning device PS is, for example, a GNSS (Global Navigation Satellite System) compass and detects the position and orientation of the upper rotating body 3. The detection signals corresponding to the position and orientation of the upper rotating body 3 are received by the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by an orientation sensor attached to the upper rotating body 3. In this embodiment, the positioning device PS measures the current position of the work machine 100 in a globally identifiable reference coordinate system.

[0059] A reference coordinate system is, for example, the World Geodetic System, which can determine a location on Earth. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the Earth's center of mass, the X-axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis pointing in the direction of 90 degrees east longitude, and the Z-axis pointing in the direction of the North Pole.

[0060] The controller 30 is an example of a control device and is composed of a computer including, for example, a CPU, a volatile memory device, a non-volatile memory device, and various input / output interfaces. The controller 30 implements various functions, for example, by reading a program from the non-volatile memory device, loading it into the volatile memory device, and having the CPU execute it. In the illustrated example, the controller 30 is configured to implement various functions and control the work machine 100. These functions include, for example, a machine guidance function that guides the operator in manually operating the work machine 100. The functions may also include a contact avoidance function that automatically or autonomously operates or stops the work machine 100 to avoid contact between the work machine 100 and objects within the monitoring range around the work machine 100.

[0061] The controller 30 is configured to output control commands to the regulator 13 as needed, thereby changing the discharge rate of the main pump 14.

[0062] Furthermore, the controller 30 may be configured to perform control related to a machine guidance function that guides the manual operation of the work machine 100 by the operator through the operating device 26. Alternatively, the controller 30 may be configured to perform control related to a machine control function that automatically assists the manual operation of the work machine 100 by the operator through the operating device 26.

[0063] Furthermore, some of the functions of controller 30 may be implemented by other controllers (control devices). In other words, the functions of controller 30 may be implemented in a manner distributed among multiple controllers. For example, machine guidance functions and machine control functions may be implemented by dedicated controllers (control devices).

[0064] <Block configuration of the remote control system> Figure 3 is a functional block diagram showing an example configuration of the remote control system SYS according to this embodiment. In the example shown in Figure 3, the block configurations of the remote control room RC, the work machine 100, and the management server 700, which are included in the remote control system SYS, are shown. The hardware configuration of the work machine 100 will not be explained.

[0065] <Configuration of the remote control room> The remote control room RC includes a remote controller R40, a communication device T2, an operation sensor R43, an operation device R42, a display device D1E, and an input device D2E. The communication device T2, operation sensor R43, and operation device R42 have been described above, so their explanation is omitted.

[0066] The input device D2E is located within reach of the operator seated in the remote control room RC and receives various operation inputs from the operator, outputting signals corresponding to the operation inputs to the remote controller R40. The input device D2E includes a touch panel mounted on the display of a display device that shows various information images, a knob switch located at the tip of the lever part of the operation device R42, and button switches, levers, toggles, rotary dials, etc., installed around the display device D1E. Signals corresponding to the operations performed on the input device D2E are received by the remote controller R40.

[0067] Next, we will explain the remote control room RC. Figure 4 shows an example of the layout of the remote control room RC. The remote control room RC is equipped with multiple control devices R42, with the operator's seat DS as the reference point.

[0068] In this embodiment, the display device D1E is a multi-display consisting of six monitors arranged in two vertical rows and three horizontal columns, as shown in Figure 4. Specifically, the display device D1E includes the central monitor D1Ea, the upper monitor D1Eb, the left monitor D1Ec, the right monitor D1Ed, the upper left monitor D1Ee, and the upper right monitor D1Ef.

[0069] <Management Server Configuration> The management server 700 includes a controller 701, a communication device T3, a receiver R1, and a storage unit 702.

[0070] The controller 701 is an example of a control device and consists of a computer including, for example, a CPU, a volatile memory device, a non-volatile memory device, and various input / output interfaces. The controller 701 then implements various functions, for example, by reading a program from the non-volatile memory device, loading it into the volatile memory device, and having the CPU execute it.

[0071] Communication device T3 communicates with external devices via a communication network including a mobile communication network, a satellite communication network, or the Internet. Communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), a communication module compatible with short-range wireless communication standards such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a satellite communication module for connecting to a satellite communication network.

[0072] Receiver R1 includes one or more antennas for receiving signals transmitted from satellite 900, and a receiving circuit that is communicatively coupled to the antennas. Receiver R1 according to this embodiment is not limited to a configuration for receiving signals from satellite 900, and may include, for example, a circuit configured to utilize both transmitting and receiving functions.

[0073] The memory unit 702 stores various types of information under the control of the controller 701. The memory unit 702 is, for example, a read / write non-volatile memory device such as a semiconductor memory. The memory unit 702 stores information for providing disaster-related notifications. For example, the memory unit 702 includes a setting memory unit 721.

[0074] <<Explanation of situation assessment at the work site and remote control room>> When the work machine 100 operates according to the instructions of the remote operator OP located in the remote control room RC, it is difficult for the remote operator OP to grasp the situation at the work site, while it is difficult for the workers performing the work at the work site to grasp the situation at the remote control room RC.

[0075] For example, if a disaster such as an earthquake occurs at the work site, the remote operator (OP) may find it difficult to determine whether a disaster has occurred simply by visually inspecting the image information from the imaging device (S6), potentially delaying the execution of a stop control to the work machine (100) in response to the disaster. Similarly, if a disaster such as an earthquake occurs in the remote control room (RC), it may be difficult for workers at the work site to grasp the situation in the remote control room (RC), potentially delaying the confirmation of the operation of the work machine (100).

[0076] Another example is when the remote operator (OP) in the remote control room (RC) becomes unwell; it is difficult for workers at the work site to recognize the OP's malfunction. Similarly, when a malfunction occurs in the remote control room (RC), it is difficult for workers at the work site to recognize the RC's malfunction.

[0077] Similarly, if an abnormality occurs in or around a worker performing work at a work site, it is difficult for the remote operator (OP) to recognize the abnormality in the worker or their surroundings.

[0078] Therefore, when the management server 700 according to this embodiment detects a disaster related to the area where the work machine 100, remote controller R40, or mobile communication terminal 500 is located, or when it detects an abnormality around the remote controller R40 or mobile communication terminal 500, it notifies at least one of the remote controller R40 and mobile communication terminal 500 of information based on the detected content. Then, at least one of the remote controller R40 and mobile communication terminal 500 displays the information in accordance with the notification. Thus, both the workers at the work site and the remote operator OP can recognize the disaster or abnormality that is occurring.

[0079] Furthermore, the management server 700 according to this embodiment transmits a signal to control the work machine 100 when it detects a disaster related to the area where the work machine 100, remote controller R40, or mobile communication terminal 500 are located, or when it detects an abnormality in the vicinity of the remote controller R40 or mobile communication terminal 500. The signal to be transmitted may be, for example, an emergency stop signal, but any signal that restricts the operation of the work machine 100 is acceptable. Therefore, in this embodiment, the operation of the work machine 100 can be restricted when a disaster or an abnormality in the surroundings is detected, thereby improving safety.

[0080] <<Functional Blocks of Work Machines>> Returning to Figure 3, we will now describe each functional block within the controller 30 of the work machine 100. Each functional block within the controller 30 is conceptual and does not necessarily need to be physically configured as shown in the figure. All or part of each functional block can be configured by distributing and integrating them functionally or physically in any unit. Each processing function performed in each functional block is realized, all or any part thereof, by a program executed on the CPU. Alternatively, each functional block may be realized as hardware using wired logic. The controller 30, by realizing the program, includes an acquisition unit 301, a transmission control unit 302, a reception control unit 303, and an actuator drive unit 304.

[0081] The acquisition unit 301 acquires signals from various detection devices installed on the work machine 100. For example, the acquisition unit 301 acquires position information from the positioning device PS, which shows the measurement results such as the position and orientation of the work machine 100. The acquisition unit 301 also acquires image information from the imaging device S6.

[0082] The transmission control unit 302 controls the transmission of various information based on the acquisition results of the acquisition unit 301 to the remote control room RC via the communication device T1. For example, the transmission control unit 302 controls the transmission of image information captured by the imaging device S6, and position information indicating the position and orientation of the work machine 100, to the remote control room RC.

[0083] The receiving control unit 303 controls the reception of various information from the remote control room RC or the management server 700 via the communication device T1. For example, the receiving control unit 303 receives operation signals from the remote control room RC to control the operation of the work machine 100. The receiving control unit 303 also receives emergency stop signals from the management server 700.

[0084] The actuator drive unit 304 is configured to drive the actuator mounted on the work machine 100. In this embodiment, the actuator drive unit 304 generates and outputs an operating signal for each of the multiple solenoid valves included in the proportional valve 31 based on the operation signal transmitted from the remote control room RC.

[0085] Upon receiving an activation signal, each solenoid valve increases or decreases the pilot pressure acting on the pilot port of the corresponding control valve in the control valve unit 17. As a result, the hydraulic actuator corresponding to each control valve operates at a speed corresponding to the stroke amount of the control valve.

[0086] <<Functional Blocks of the Remote Control Room>> This section describes the functional blocks within the remote controller R40 of the remote control room RC. Each functional block within the remote controller R40 is conceptual and does not necessarily need to be physically configured as shown in the diagram. All or part of each functional block can be configured by distributing and integrating them functionally or physically in any unit. Each processing function performed by each functional block is realized, all or any part thereof, by a program executed on the CPU. Alternatively, each functional block may be realized as hardware using wired logic. The remote controller R40, by implementing the program, includes a receiving control unit 401, a display control unit 402, a signal generation unit 403, a transmission control unit 404, and an input control unit 405.

[0087] The receiving control unit 401 controls the reception of various information from the management server 700 and the work machine 100 via the communication device T2.

[0088] For example, the receiving control unit 401 controls the reception of image information and position information from the work machine 100.

[0089] Furthermore, the receiving control unit 401 controls the reception of disaster-related notifications from the management server 700.

[0090] The display control unit 402 controls the display of various information on the display device D1E. For example, the display control unit 402 controls the display of image information captured by the imaging device S6 as an image showing the surroundings of the work machine 100 on the display device D1E. In addition, the display control unit 402 controls the display of information indicating the current status of the work machine 100 on the display device D1E based on the detection results of various detection devices of the work machine 100 received by the receiving control unit 401.

[0091] Furthermore, the display control unit 402 controls the display device D1E to display disaster-related information notified by the management server 700.

[0092] The signal generation unit 403 generates signals to control the operation of the work machine 100 according to the information received from the operation sensor R43.

[0093] The transmission control unit 404 controls the transmission of various types of information to the work machine 100. For example, the transmission control unit 404 controls the transmission of operation signals generated by the signal generation unit 403 to the work machine 100.

[0094] The input control unit 405 processes the information input via the input device D2E. For example, after the work machine 100 has stopped, the input control unit 405 processes information via the input device D2E indicating permission to restart (start operation) the work machine 100. Subsequently, the transmission control unit 404 transmits the information indicating permission to restart (start operation) to the work machine 100.

[0095] <<Management Server Functional Blocks>> This section describes the functional blocks within the controller 701 of the management server (an example of a management device) 700. Each functional block within the controller 701 is conceptual and does not necessarily need to be physically configured as shown in the diagram. All or part of each functional block can be configured by distributing and integrating them functionally or physically in any unit. Each processing function performed in each functional block is realized, all or any part thereof, by a program executed on the CPU. Alternatively, each functional block may be realized as hardware using wired logic. The controller 701, by implementing the program, includes an acquisition unit 711, a determination unit 712, a signal generation unit 713, a transmission control unit 714, a reception control unit 715, and a setting unit 716. The storage unit 702 also includes a setting storage unit 721.

[0096] The setting memory unit 721 stores information regarding notifications to be sent when a disaster is detected or when an abnormality is detected around the remote controller R40, as well as information regarding signals to be transmitted.

[0097] Figure 5 shows an example of the table structure of the setting storage unit 721 according to this embodiment. As shown in Figure 5, the setting storage unit 721 associates the detected content, the detected area, the notification content to the remote control room, the signal to the work machine, and the notification content to the mobile communication terminal.

[0098] The detection details and detection area store the conditions for a disaster to be detected, which are necessary for sending a notification or signal. For example, the detection details store the type and magnitude of the disaster, and the detection area stores the area where the disaster occurred.

[0099] The notification content for the remote control room contains information to be notified to the remote control room RC. The signal for the work machine contains signals to be transmitted to the work machine 100. The notification content for the mobile communication terminal contains information to be notified to a mobile communication terminal (for example, mobile communication terminal 500) carried by a worker at the work site.

[0100] The controller 701 then transmits disaster-related notifications and signals based on disaster-related information distributed from the satellite 900 and information stored in the setting memory unit 721.

[0101] Furthermore, the controller 701 of the management server 700 switches the information it notifies the mobile communication terminal 500 and the remote controller R40 in the remote control room RC according to the information stored in the setting memory unit 721, depending on the type of disaster, the area where the disaster occurred, or the severity of the disaster. Therefore, workers possessing the mobile communication terminal 500 and remote operators OP in the remote control room RC can understand the situation according to the type of disaster, the area where the disaster occurred, or the severity of the disaster, and can take appropriate action. By enabling appropriate action, safety can be improved.

[0102] The collection unit 711 collects information about disasters detected by the disaster information collection system from satellite 900 via receiver R1. Disaster information includes, for example, the type of disaster, the magnitude of the disaster, the area where the disaster occurred, and the time the disaster occurred.

[0103] The determination unit 712 determines whether the disaster information collected by the collection unit 711 satisfies the conditions for a disaster to be registered or to send a notification or signal, which are stored in the setting storage unit 721. For example, if the collection unit 711 collects information that an earthquake of magnitude 3 or higher has been detected in the area where the work site is located, the determination unit 712 determines that the conditions for detection content "earthquake of magnitude 3 or higher" and detection area "area of ​​the work site," which are stored in the setting storage unit 721, are met. In this case, a notification and a signal are sent according to the information associated with "earthquake of magnitude 3 or higher" and "area of ​​the work site."

[0104] The signal generation unit 713 generates operation signals to control the operation of the work machine 100. For example, the signal generation unit 713 generates a signal associated with the conditions for transmitting a signal when the determination unit 712 determines that the conditions for transmitting a signal have been met. For example, when the determination unit 712 determines that the conditions for detection content "earthquake of magnitude 3 or higher" and detection area "area of ​​the work site," which are stored in the setting storage unit 721, have been met, the signal generation unit 713 generates an emergency stop signal.

[0105] The transmission control unit 714 controls the transmission of various information via the communication device T3 to one or more of the following: the work machine 100, the remote control room RC, and the portable communication terminal 500.

[0106] For example, if the determination unit 712 determines that the conditions of detection content "earthquake of magnitude 3 or higher" and detection area "area of ​​the work site" stored in the setting storage unit 721 are met, the transmission control unit 714 controls the transmission of the emergency stop signal generated by the signal generation unit 713 to the work machine 100. In another example, the transmission control unit 714 controls the transmission control unit 714 to notify the remote control room RC that an earthquake of magnitude 3 or higher has occurred at the work site and that the emergency stop signal has been transmitted. Furthermore, the transmission control unit 714 controls the transmission control unit 714 to notify the mobile communication terminal 500 that the emergency stop signal has been transmitted.

[0107] The receiving control unit 715 controls the reception of various information from the remote control room RC and the mobile communication terminal 500 via the communication device T3. For example, the receiving control unit 715 receives notifications of disaster-related information and settings related to the transmission of signals to work machines from the remote control room RC and the mobile communication terminal 500.

[0108] The setting unit 716 configures settings related to the notification of disaster-related information and the transmission of signals to the work machine 100. For example, the setting unit 716 registers the information received by the receiving control unit 715 in the setting storage unit 721.

[0109] Therefore, the remote operator OP or worker can arbitrarily change at least one of the conditions for transmitting an emergency stop signal to the work machine 100 and the conditions for notification, such as the nature, magnitude, and location of the disaster. For example, in a situation where aftershocks are occurring frequently during disaster recovery, it may be undesirable for the work machine 100 to stop due to aftershocks. In such a case, for example, the remote operator OP can input a setting change to the remote controller R40 via the input device D2E to increase the seismic intensity at which an emergency stop signal is transmitted so that the machine does not stop due to aftershocks. The setting unit 716 then updates the setting storage unit 721 according to the setting change received from the remote controller R40. This process suppresses the stopping of the work machine 100 due to aftershocks, thereby improving work efficiency.

[0110] In this way, the notifications that the management server 700 sends to the remote control room RC and the mobile communication terminal 500 can be switched according to the settings entered from the remote control room RC and the mobile communication terminal 500 (an example of an external device). For example, it is possible to switch notifications according to the conditions around the work machine 100.

[0111] For example, if the work site where the work machine 100 is located is a land development site in a mountainous area, there is a possibility of damage occurring in the event of a landslide. Therefore, if the work site where the work machine 100 is located is a land development site in a mountainous area, the remote control room RC and the mobile communication terminal 500 accept settings from the remote operator OP or workers to notify them in the event of a landslide. The setting unit 716 then registers with the setting storage unit 721 to notify the remote control room RC and the mobile communication terminal 500 respectively when a landslide is detected, according to the settings received from the remote control room RC and the mobile communication terminal 500. On the other hand, if the work site where the work machine 100 is located is in a residential area, there is a low possibility of damage occurring in the event of a landslide near the work site. Therefore, if the work site where the work machine 100 is located is in a residential area, the remote control room RC and the mobile communication terminal 500 accept settings from the remote operator OP or workers not to notify them in the event of a landslide. The setting unit 716 then registers with the setting storage unit 721 that, in accordance with the settings received from the remote control room RC and the mobile communication terminal 500, notifications will not be sent to the remote control room RC and the mobile communication terminal 500 when a "landslide" is detected. Therefore, in this embodiment, it becomes easier to grasp the current situation by enabling notifications that are appropriate to the surrounding conditions of the work machine 100.

[0112] Furthermore, the management server 700 may register a setting in the setting storage unit 721 that allows it to send an emergency stop signal to the work machine 100 when it receives P-wave detection results from the satellite 900. This setting enables emergency stop control before an earthquake caused by S-waves occurs, thereby improving safety.

[0113] Next, we will describe the processes performed in the remote control system SYS according to this embodiment when a disaster occurs. Figure 6 is a conceptual diagram illustrating the processes performed in the remote control system SYS according to this embodiment when an earthquake of magnitude 3 or higher occurs at the work site.

[0114] In the example shown in Figure 6, the disaster information collection system detects that an earthquake of magnitude 3 or higher has occurred and distributes the detection results, including the occurrence of the earthquake, its magnitude, and the area where the earthquake occurred, to the management server 700.

[0115] The management server 700 recognizes, based on information distributed from satellite 900, that an earthquake of magnitude 3 or higher has occurred in the area where the work site is located. The determination unit 712 refers to the setting storage unit 721 shown in Figure 5 and determines that the detected disaster matches the detection content "earthquake of magnitude 3 or higher" and the detection area "area of ​​the work site". The controller 701 then processes according to the information associated with the detection content "earthquake of magnitude 3 or higher" and the detection area "area of ​​the work site". In other words, the controller 701 processes based on the notification content to the remote control room "detection area + detection content + signal transmitted", the signal to the work machine "emergency stop command", and the notification content to the mobile communication terminal "signal transmitted".

[0116] As a specific example, the transmission control unit 714 of the management server 700 transmits an "emergency stop signal" to the communication device T1 of the work machine 100 located at the work site.

[0117] Furthermore, the transmission control unit 714 of the management server 700 notifies the communication device T2 in the remote control room RC that an earthquake of magnitude 3 or higher is occurring in the "work site area" and that an "emergency stop signal has been transmitted." In addition, the transmission control unit 714 of the management server 700 notifies the mobile communication terminal 500 that an "emergency stop signal has been transmitted."

[0118] In the remote control system SYS according to this embodiment, the above-described process is performed so that the remote operator OP in the remote control room RC sends an emergency stop signal to the work machine 100 regardless of whether or not they recognize that an earthquake has occurred at the work site. This prevents abnormal conditions from occurring due to the operation of the work machine 100 during a disaster.

[0119] Furthermore, in the remote control system SYS according to this embodiment, the processing described above allows the remote operator OP in the remote control room RC to immediately recognize that an earthquake has occurred, and to take appropriate action at the work site.

[0120] Furthermore, in the remote control system SYS according to this embodiment, workers present at the work site can recognize that an emergency stop signal has been sent to the work machine 100 by referring to the information notified to the mobile communication terminal 500. Therefore, workers can evacuate immediately. In addition, workers can also confirm whether or not the work machine 100 has stopped due to the emergency stop signal.

[0121] Figure 7 is a conceptual diagram illustrating the process performed in the remote control system SYS according to this embodiment when an earthquake of magnitude 3 or higher occurs in the remote control room RC.

[0122] In the example shown in Figure 7, the disaster information collection system detects that an earthquake of magnitude 3 or higher has occurred and distributes the detection results, including the occurrence of the earthquake, its magnitude, and the area where the earthquake occurred, to the management server 700.

[0123] The management server 700 recognizes, based on the distributed information, that it has detected an earthquake of magnitude 3 or higher in the area where the remote control room RC is located. The determination unit 712 refers to the setting storage unit 721 shown in Figure 5 and determines that the detected disaster matches the detection content "earthquake of magnitude 3 or higher" and the detection area "area of ​​the remote control room". The controller 701 then processes according to the information associated with the detection content "earthquake of magnitude 3 or higher" and the detection area "area of ​​the remote control room". In other words, the controller 701 processes based on the notification content to the remote control room "signal transmitted", the signal to the work machine "emergency stop command", and the notification content to the mobile communication terminal "detection area + detection content + signal transmitted".

[0124] As a specific example, the transmission control unit 714 of the management server 700 transmits an "emergency stop signal" to the communication device T1 of the work machine 100 located at the work site.

[0125] Furthermore, the transmission control unit 714 of the management server 700 notifies the communication device T2 in the remote control room RC that "an emergency stop signal has been sent." In addition, the transmission control unit 714 of the management server 700 notifies the mobile communication terminal 500 that "an earthquake of magnitude 3 or higher is occurring in the area where the remote control room is located," along with that "an emergency stop signal has been sent."

[0126] In the remote control system SYS according to this embodiment, when the above-described process is performed, the remote operator OP in the remote control room RC recognizes the occurrence of an earthquake, and regardless of whether an emergency stop operation is performed from the remote control room RC, the management server 700 sends an emergency stop signal to the work machine 100. By stopping the work machine 100 when an earthquake occurs, malfunctions of the work machine 100 can be suppressed.

[0127] Furthermore, in the remote control system SYS according to this embodiment, once the above-described process is performed, the display device D1E in the remote control room RC will display "Emergency stop signal sent". Therefore, the remote operator OP can evacuate immediately.

[0128] Furthermore, in the remote control system SYS according to this embodiment, a worker at the work site can recognize that an earthquake has occurred in the remote control room RC and that an emergency stop signal has been sent to the work machine 100 by referring to the information displayed on the mobile communication terminal 500. Therefore, the worker can confirm whether or not the work machine 100 has been emergency stopped.

[0129] The remote control system SYS according to this embodiment is not limited to a configuration in which the work machine 100 is emergency stopped in the event of a disaster.

[0130] For example, if the determination unit 712 refers to the setting storage unit 721 shown in Figure 5 and recognizes that the detected disaster corresponds to the detection content "power outage" and the detection area "area near the work site", the transmission control unit 714 may notify the communication device T2 in the remote control room RC that a "power outage" has occurred in the "area near the work site".

[0131] Therefore, the remote operator OP in the remote control room RC can operate the work machine 100 while taking into account the possibility of a communication failure by referring to the notified information. Furthermore, the remote operator OP in the remote control room RC can also switch the controlled object to operate the work machine 100 in a different area, taking into account the area where the power outage occurred.

[0132] In another example, if the determination unit 712 refers to the setting storage unit 721 shown in Figure 5 and recognizes that the detected disaster corresponds to the detection content "landslide" or "heavy rain" and the detection area "area of ​​the work site", the transmission control unit 714 may notify the communication device T2 in the remote control room RC that a "landslide" or "heavy rain" has occurred in the "area of ​​the work site". In this case, the management server 700 only needs to alert the remote operator OP about the disaster, and the work machine 100 does not need to be stopped.

[0133] In this embodiment, the management server 700 has been described in an example where it notifies at least one of the remote controller R40 and the mobile communication terminal 500 when a disaster occurring at the work site is an earthquake of magnitude 3 or higher, a power outage, a landslide, or heavy rain, and when a disaster occurring in the remote control room RC is an earthquake of magnitude 3 or higher. However, in this embodiment, notifications are not limited to disasters occurring at the work site that are earthquakes of magnitude 3 or higher, power outages, landslides, or heavy rain. For example, if a disaster occurring at the work site is an earthquake of magnitude 3 or lower, a typhoon, or a flood, the management server 700 may notify at least one of the remote controller R40 and the mobile communication terminal 500.

[0134] In this way, the remote controller R40 and the mobile communication terminal 500 each switch the information they display in response to notifications, in other words, according to the type of disaster, the area where the disaster occurred, or the severity of the disaster (e.g., seismic intensity). In other words, since the remote controller R40 and the mobile communication terminal 500 each display information corresponding to the specific circumstances of the disaster, it becomes easier for the remote operator OP and the workers to understand the current situation.

[0135] For example, the remote operator OP in the remote control room RC can determine that it is necessary to check the situation of the disaster by referring to the notified information. The remote operator OP in the remote control room RC can then recognize the situation of the disaster by rotating or moving the work machine 100 and visually viewing the image information captured by the imaging device S6 of the work machine 100.

[0136] Furthermore, the remote control system SYS according to this embodiment may be combined with other safety functions. For example, the controller 30 of the work machine 100 may have a safety function that activates a safety function to perform emergency stop control when it determines that a communication failure has occurred due to a disaster and that signals such as an emergency stop signal are no longer received from the management server 700.

[0137] In such cases, the management server 700 notifies an information processing device (e.g., remote controller R40 or mobile communication terminal 500) located in an area where no disaster has been detected of the disaster, of the area where the disaster was detected and the details of the detection. At the same time, the management server 700 may also notify that a communication failure has occurred and that the safety function of the work machine 100 has been activated due to the communication failure.

[0138] Thus, even in situations where communication is difficult due to communication failures, the management server 700 notifies the current status, allowing remote operators (OPs) or workers to understand the current situation and take appropriate action.

[0139] Next, we will describe the specific processing flow in the remote control system SYS according to this embodiment. Figure 8 is a sequence diagram showing the processing flow of the remote control system SYS according to this embodiment when an earthquake of magnitude 3 or higher occurs at the work site.

[0140] First, the collection unit 711 collects information about the disaster detected by the disaster information collection system via satellite 900 (S1801).

[0141] Next, the determination unit 712 determines whether the collected disaster-related information satisfies the conditions for transmitting a notification or signal stored in the setting storage unit 721 (S1802). In the sequence diagram shown in Figure 8, it is assumed that the conditions set in the setting storage unit 721 shown in Figure 5, namely "earthquake with seismic intensity of 3 or higher" and "detection area" as "area of ​​the work site," are met.

[0142] The signal generation unit 713 generates an "emergency stop signal" which is associated with the detected content "earthquake of magnitude 3 or higher" and the detected area "area of ​​the work site" (S1803).

[0143] The transmission control unit 714 transmits the generated "emergency stop signal" to the work machine 100 (S1804).

[0144] Then, when the receiving control unit 303 of the controller 30 of the work machine 100 receives an "emergency stop signal", the actuator drive unit 304 of the controller 30 performs emergency stop control (S1821).

[0145] The transmission control unit 714 of the management server 700 notifies the mobile communication terminal 500 of a message indicating "signal transmitted," which is associated with the detected content "earthquake of magnitude 3 or higher" and the detected area "area of ​​the work site" (S1805).

[0146] The mobile communication terminal 500 displays the received message (S1831).

[0147] Furthermore, the transmission control unit 714 of the management server 700 notifies the remote controller R40 of a message indicating "detection area + detection content + signal transmitted," which is associated with the detection content "earthquake of magnitude 3 or higher" and the detection area "area of ​​the work site" (S1806).

[0148] The display control unit 402 of the remote controller R40 displays the received message (S1811).

[0149] Subsequently, once the earthquake has stopped and preparations are complete to resume work, the process is performed to start the operation of the work machine 100 and resume work.

[0150] Specifically, the worker inspects the work site and determines whether or not it is permissible to start work with the work machine 100. If the worker determines that it is permissible to start work, the mobile communication terminal 500 receives input from the worker granting permission to start work with the work machine 100 (S1832).

[0151] The mobile communication terminal 500 sends a notification to the work machine 100 granting permission to resume (start operation) (S1833).

[0152] Meanwhile, the remote operator OP determines whether the work machine 100 is ready to start work. If the remote operator OP determines that the work machine is ready to start work, the input control unit 405 of the remote controller R40 receives an input from the remote operator OP granting permission to start the work machine 100 (S1812).

[0153] The transmission control unit 404 of the remote controller R40 sends a permission notification to the work machine 100 to resume (start operation) (S1813).

[0154] The controller 30 of the work machine 100 determines that the conditions for starting operation have been met when it receives permission to start operation from the remote controller R40 and the mobile communication terminal 500 (S1822).

[0155] Then, the controller 30 of the work machine 100 starts operating to resume work (S1823).

[0156] In this embodiment, the work machine 100, after being stopped by an emergency stop signal, can start operating again in accordance with remote control from the remote controller R40 in the remote control room RC when it receives permission to restart (start operation) notification from the remote controller R40 and the mobile communication terminal 500. In this embodiment, the start of operation of the work machine 100 requires not only the judgment of the remote operator OP in the remote control room RC, but also the judgment of the workers present at the work site. For example, even if the remote operator OP determines that work can be started, the work site may not be ready. Therefore, in this embodiment, the work machine 100 can start operating only when both the remote control room RC and the work site authorize work by the work machine 100. Thus, since the operation of the work machine 100 can be started after safety has been confirmed on both sides, safety can be improved.

[0157] Figure 9 is a sequence diagram showing the processing flow when an earthquake of magnitude 3 or higher occurs in the remote control room RC, according to the remote control system SYS of this embodiment.

[0158] First, the collection unit 711 collects information about the disaster detected by the disaster information collection system via satellite 900 (S1901).

[0159] Next, the determination unit 712 determines whether the collected disaster information satisfies the conditions for transmitting a notification or signal stored in the setting storage unit 721 (S1902). In the sequence diagram shown in Figure 9, it is assumed that the conditions set in the setting storage unit 721 shown in Figure 5, namely "earthquake with seismic intensity of 3 or higher" and "detection area" as "area of ​​the remote control room," are met.

[0160] The signal generation unit 713 generates an "emergency stop signal" which is associated with the detected content "earthquake of magnitude 3 or higher" and the detected area "area of ​​the remote control room" (S1903).

[0161] The transmission control unit 714 transmits the generated "emergency stop signal" to the work machine 100 (S1904).

[0162] Then, when the receiving control unit 303 of the controller 30 of the work machine 100 receives an "emergency stop signal", the actuator drive unit 304 of the controller 30 performs emergency stop control (S1921).

[0163] The transmission control unit 714 of the management server 700 notifies the remote controller R40 in the remote control room RC of a message indicating "signal transmitted," which is associated with the detected content "earthquake of magnitude 3 or higher" and the detected area "area of ​​the work site" (S1905).

[0164] The display control unit 402 of the remote controller R40 displays the received message on the display device D1E (S1911).

[0165] Furthermore, the transmission control unit 714 of the management server 700 notifies the mobile communication terminal 500 of a message indicating "detection area + detection content + signal transmitted," which is associated with the detection content "earthquake of magnitude 3 or higher" and the detection area "area of ​​the work site" (S1906).

[0166] The mobile communication terminal 500 displays the received message (S1931).

[0167] Subsequently, once the earthquake has stopped and preparations are complete to resume work, the process of starting the work machine 100 and resuming work is performed. The processes in S1912-S1913, S1922-S1923, and S1932-S1933 are the same as those in S1812-S1813, S1822-S1823, and S1832-S1833, and their explanation is omitted.

[0168] (Variation 1) In the remote control system SYS according to the embodiment described above, an example was given in which at least one of the following is performed: notification and transmission of a signal when a disaster is detected. However, the embodiment described above does not limit the conditions for performing at least one of the following: notification and transmission of a signal, to the detection of a disaster.

[0169] In this modified example, the management server 700 detects an abnormality in the vicinity of the remote controller R40 or the mobile communication terminal 500 and performs at least one of the following actions: sending a notification or a signal.

[0170] In this modified example, we will describe a case where an abnormality occurs in the physical condition or biological state of the remote operator OP as an example of an abnormality around the remote controller R40.

[0171] In this modified example, the remote operator (an example of a user), OP, is wearing a biometric measurement device. The remote controller R40 then transmits biometric information, which represents the measurement results from the biometric measurement device, to the management server 700 via the communication device T2.

[0172] The configuration storage unit 721 of the management server 700 associates conditions related to the measurement results of living organisms with controls for at least one of the following: notification and transmission of signals when those conditions are met.

[0173] The determination unit 712 of the management server 700 determines that the measurement results of the biological information received meet predetermined conditions, and the transmission control unit 714 performs control related to at least one of notification and signal transmission. For example, if the determination unit 712 determines that the biological information (e.g., pulse wave) of the remote operator OP meets predetermined conditions, the transmission control unit 714 transmits an emergency stop signal to the work machine 100. Furthermore, the transmission control unit 714 notifies the mobile communication terminal 500 of a message indicating that an abnormality has occurred in the remote operator OP and that an emergency stop signal has been transmitted to the work machine 100. When the mobile communication terminal 500 displays this message, the worker can recognize that the work machine 100 has stopped because an abnormality has occurred in the remote operator OP.

[0174] This modified example illustrates the detection of an anomaly around the remote controller R40 when an abnormality occurs in the measurement results of the remote operator OP's body. However, the examples of detecting an anomaly around the remote controller R40 are not limited to abnormalities in the measurement results of the remote operator OP's body; an anomaly occurring within the remote control room RC (for example, when an intruder enters) is also acceptable.

[0175] Furthermore, the system may also detect an abnormality in the vicinity of the mobile communication terminal 500 present at the work site. For example, a worker at the work site (an example of a user) who possesses the mobile communication terminal 500 wears a biometric measurement device, and the mobile communication terminal 500 transmits biometric information indicating the measurement results from the biometric measurement device to the management server 700 via the communication device T2. Then, if the determination unit 712 determines that the worker's biometric information meets predetermined conditions, the transmission control unit 714 may send a notification regarding the worker's abnormality to the remote control room RC. In this case, the mobile communication terminal 500 may function as a biometric measurement device.

[0176] (Modification 2) The embodiments and modifications described above illustrate an example of a control system for a work machine using the SYS remote control system. However, the embodiments and modifications described above are not limited to the SYS remote control system and may be applied to other control systems. This modification describes an application to a management system for an autonomous work machine.

[0177] The management system for the work machine in this modified example is a system for managing the autonomous operation of the work machine 100, but, as with the embodiment described above, it is also possible to remotely control the work machine 100 from the remote control room RC.

[0178] The controller 30 of the work machine 100 related to this modification operates autonomously according to predetermined design information, so as to achieve the soil shape indicated in the design information.

[0179] Furthermore, the management system for the work machine in this modified example includes a remote monitoring device for monitoring the autonomously operating work machine 100. In this modified example, as in the embodiment described above, it is assumed that the workers present at the work site are carrying a portable communication terminal 500.

[0180] The remote monitoring device receives information from the work machine 100 and other equipment indicating the status of the work site, and presents this information to the manager. This allows the manager to understand the status of the work site.

[0181] Furthermore, if the management server 700 detects a disaster related to the area where the work machine 100 or the remote monitoring device is located, or if it detects an abnormality around the remote monitoring device or the mobile communication terminal 500, it will send a notification similar to that of the embodiment described above to at least one of the remote monitoring device and the mobile communication terminal 500.

[0182] Furthermore, the management server 700 transmits an emergency stop signal to the autonomously operating work machine 100 when it detects a disaster related to the area where the work machine 100 or the remote monitoring device is located, or when it detects an abnormality around the remote monitoring device or the portable communication terminal 500. Therefore, this modified example can achieve the same effects as the embodiment described above.

[0183] <effect> Traditionally, in the event of a disaster, it was necessary to communicate with remote locations to confirm the current situation, which could potentially delay ensuring people's safety and evacuating them.

[0184] In contrast, in the embodiments and modifications described above, when a disaster related to the area where the work machine 100 or the remote controller R40 of the remote control room RC is located is detected, or when an abnormality is detected around the remote controller R40 or the mobile communication terminal 500, the management server 700 notifies one or more of the remote controller R40 and the mobile communication terminal 500 of the disaster or abnormality. Then, one or more of the remote controller R40 and the mobile communication terminal 500 displays the notified content, so that the remote operator OP or worker can understand the current situation without having to communicate, thereby improving safety.

[0185] In the embodiments and modifications described above, when the management server 700 detects a disaster related to the area where the work machine 100 or the remote controller R40 of the remote control room RC is located, or when it detects an abnormality around the remote controller R40 or the mobile communication terminal 500, it sends an emergency stop signal to the work machine 100. Therefore, the remote control system SYS can suppress malfunctions by the work machine 100 and enable a safe stop when it detects a disaster related to the area where the work machine 100 or the remote controller R40 of the remote control room RC is located, or when it detects an abnormality around the remote controller R40 or the mobile communication terminal 500, thereby improving safety.

[0186] Preferred embodiments and modifications of the present disclosure have been described above. However, the inventions of the present disclosure are not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the inventions of the present disclosure. Furthermore, each of the features described with reference to the embodiments described above may be combined as appropriate, as long as they do not conflict technically. [Explanation of Symbols]

[0187] 100 working machines 1. Lower running body 2. Swivel mechanism 3. Upper rotating body 4 Boom 5 Arms 6 buckets T1 Communication Device 30 controllers 301 Acquisition Department 302 Transmission Control Unit 303 Receiving Control Unit 304 Actuator drive unit 31 Proportional valve RC Remote Control Room T2 Communication Device D1E display device R40 Remote Controller 401 Receiving Control Unit 402 Display Control Unit 403 Signal Generation Unit 404 Transmission Control Unit 405 Input Control Unit 700 Management Server R1 Receiver T3 Communication Device 701 Controller 711 Collection Department 712 Judgment section 713 Signal Generation Unit 714 Transmission Control Unit 715 Receiving Control Unit 716 Settings Section 702 Storage section 721 Setting memory unit

Claims

1. Work machines that operate at the work site by autonomous operation or remote control, An information processing device used for the aforementioned work machine or the aforementioned work site, The system includes a management device that notifies the information processing device when it detects a disaster related to the area where the work machine or the information processing device is located, or when it detects an abnormality in the surrounding area where the information processing device is being used. The information processing device displays information in accordance with the notification. Control system for industrial machinery.

2. When the management device detects the disaster or the abnormality, it transmits a signal to the work machine to stop it. A control system for a work machine according to claim 1.

3. The information processing device includes a remote control device for remotely controlling the work machine, and a portable communication terminal held by a worker at the work site. After the aforementioned work machine is stopped by the stop signal, it can start operating again in accordance with remote control from the remote control device when it receives permission to start operation from the remote control device and the mobile communication terminal. A control system for a work machine according to claim 2.

4. The management device shall notify the information processing device if it detects an earthquake, landslide, typhoon, flood, heavy rain, or power outage in the area related to the work machine, if it detects an earthquake in the area where the information processing device is located, or if an abnormality occurs in the biometric information of a user using another information processing device. A control system for a work machine according to claim 1 or 2.

5. The information processing device is one or more of the following: a remote control device used for remotely controlling the work machine, a portable communication terminal held by a worker at the work site, and a remote monitoring device for monitoring the work machine. A control system for a work machine according to claim 1 or 2.

6. The management device switches the information to be notified to the information processing device according to the type of disaster, the area where the disaster occurred, or the severity of the disaster. A control system for a work machine according to claim 1 or 2.

7. The information notified by the aforementioned management device can be switched according to the input from an external device. A control system for a work machine according to claim 6.

8. The information processing device switches the information to be displayed according to the type of disaster, the area where the disaster occurred, or the severity of the disaster. A control system for a work machine according to claim 1.

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